CN108284887A - A kind of drag-line climbing robot and drag-line hold control method tightly - Google Patents
A kind of drag-line climbing robot and drag-line hold control method tightly Download PDFInfo
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- CN108284887A CN108284887A CN201711410032.9A CN201711410032A CN108284887A CN 108284887 A CN108284887 A CN 108284887A CN 201711410032 A CN201711410032 A CN 201711410032A CN 108284887 A CN108284887 A CN 108284887A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The present invention is suitable for intelligent robot technology field, provides a kind of drag-line climbing robot and drag-line holds control method tightly.This method includes：Set the operating mode of electric rotating machine to rotation position pattern, the output shaft rotation of electric rotating machine is driven using the first preset rotation position as target location, the output shaft rotation of electric rotating machine drives cohesion device to carry out holding action, detect the relationship of the current rotary position and the first preset rotation position of electric rotating machine, and the current torque of electric rotating machine and the relationship of target torque, if detecting, the current rotary position of electric rotating machine is equal to the first preset rotation position, and the current torque of electric rotating machine is not less than target torque, the operating mode of electric rotating machine is then switched to constant torque pattern.Compared to the prior art, the drag-line climbing robot in the present invention can save pressure sensor and distance measuring sensor, reduce the production cost of drag-line climbing robot by preset target position and target torque.
Description
Technical field
The invention belongs to intelligent robot technology fields more particularly to a kind of drag-line climbing robot and drag-line to hold control tightly
Method.
Background technology
The development of bridge cable climbing robot is more early, originates from phase late 1980s, earlier US, Europe
Research institution develops bridge cable climbing robot in succession, but the case for being really unfolded to apply in industry is not much.For
For China's robot research present situation, bridge robot is also relatively very young, especially bridge cable climbing robot, be both
Badly, work under complex environment, and need to consider the high safety reliability of long range operation, power supply supply and telecommunication etc.,
Thus, no matter technically or application is upper, the research of bridge cable climbing robot is undoubtedly greatly chosen for one with application
War.
Bridge cable climbing robot is a complicated electro-mechanical system, is related to mechanical structure, automatically controls, leads to
The multiple fields such as letter, multi-sensor information fusion, power technology.Currently, most of bridge cable climbing robot, using
Wheeled climbing robot, is held tightly by multiple wheels and top pressure drag-line surface scrolls and advances, in order to avoid robot slides,
Wheel needs to impose severe pressure to drag-line surface when holding drag-line tightly, when robot move the generation of wheel and drag-line surface compared with
Big force of sliding friction is easy to generate damage to drag-line surface.Meanwhile needing pressure sensing in existing drag-line climbing robot
Device and the climbing of distance measuring sensor auxiliary robot, making robot, the production cost is very high.
Invention content
A kind of drag-line climbing robot of present invention offer and drag-line hold control method tightly, it is intended to solve existing drag-line climbing
Robot is easy to lead to the problem of damage to drag-line surface and drag-line climbing robot production cost is high.
A kind of drag-line of drag-line climbing robot provided by the invention holds control method tightly, the method includes：
The operating mode of electric rotating machine is set to rotation position pattern, using the first preset rotation position as target location
The output shaft of the electric rotating machine is driven to rotate, the output shaft rotation of the electric rotating machine drives the cohesion device to be held tightly
Action；
Detect the current rotary position of the electric rotating machine and the relationship of the described first preset rotation position and the rotation
The current torque of rotating motor and the relationship of target torque, the target torque are the minimum that the cohesion device can hold drag-line tightly
Torque；
If detecting, the current rotary position of the electric rotating machine is equal to the described first preset rotation position, and the rotation
The current torque of motor is not less than the target torque, then the operating mode of the electric rotating machine is switched to constant torque mould
Formula, and be the target torque by the torque settings of the constant torque pattern.
Further, the method further includes：
If detecting, the current rotary position of the electric rotating machine is equal to the described first preset rotation position, and the rotation
The current torque of motor is less than the target torque, then the electric rotating is driven using the second preset rotation position as target location
Machine rotates, and the second preset rotation position is more than the described first preset rotation position；
Detect the relationship of the current torque and the target torque of the electric rotating machine；
If detecting, the current torque of the electric rotating machine is not less than the target torque, by the work of the electric rotating machine
Operation mode is switched to constant torque pattern, and is the target torque by the torque settings of the constant torque pattern.
Further, the method further includes：
If detecting, the current rotary position of the electric rotating machine is less than the described first preset rotation position, and the rotation
The current torque of motor is not less than the target torque, then whether detects the rotating speed of the electric rotating machine in preset rotating speed section
In range；
If the rotating speed of the electric rotating machine is detected in the range of preset rotating speed section, by the work of the electric rotating machine
Operation mode is switched to constant torque pattern, and is the target torque by the torque settings of the constant torque pattern.
Further, the drag-line climbing robot includes telescopic moving mechanism, upper hold-fast body and lower hold-fast body, institute
It states hold-fast body to connect with the lower hold-fast body by the telescopic moving mechanism, the upper hold-fast body and lower armful described
Tight mechanism includes two electric rotating machines and two circumferentially distributed cohesion devices, and the electric rotating machine includes left side electric rotating machine
And right side electric rotating machine, the cohesion device include left side cohesion device and right side cohesion device, the left side electric rotating machine control
The left side cohesion device is made, the right side electric rotating machine controls the right side cohesion device；
The method further includes：
After the operating mode of the electric rotating machine is switched to constant torque pattern, the current rotation of the electric rotating machine is recorded
Indexing is set；
If the current rotary position of the electric rotating machine of record is reached not equal to the number of the described first preset rotation position
To predetermined times, and the current rotary position of the left side electric rotating machine recorded every time and the right side electric rotating machine is current
Rotation position is equal, then calculates the average value of the current rotary position of each electric rotating machine, is calculated as average rotation position；
Calculate the absolute value of the current rotary position and the difference of the average rotation position of each electric rotating machine；
If the current rotary position of each electric rotating machine and the absolute value of the difference of the average rotation position are small
In default value, then the first preset rotation position is updated using the average rotation position.
Further, the method further includes：
When the current rotary position of the electric rotating machine is equal to target range at a distance from the described first preset rotation position
When, the rotating speed of the electric rotating machine is at the uniform velocity reduced by current rotating speed, until the current rotary position of the electric rotating machine reaches
When the first preset rotation position, the rotating speed of the electric rotating machine is kept to zero-speed.
The present invention also provides a kind of drag-line climbing robot, the drag-line climbing robot includes：
Drive module, for setting the operating mode of the electric rotating machine to rotation position pattern, with the first preset rotation
Indexing is set drives the output shaft of the electric rotating machine to rotate as target location, and the output shaft rotation of the electric rotating machine drives institute
It states cohesion device and carries out holding action；
Detection module, the pass of current rotary position and the described first preset rotation position for detecting the electric rotating machine
System and the current torque of the electric rotating machine and the relationship of target torque, the target torque are that the cohesion device can
Hold the minimum torque of drag-line tightly；
Handover module, if for detecting that the current rotary position of the electric rotating machine is equal to the described first preset rotation position
It sets, and the current torque of the electric rotating machine is not less than the target torque, then switches the operating mode of the electric rotating machine
For constant torque pattern, and it is the target torque by the torque settings of the constant torque pattern.
Further, the drive module, if being additionally operable to detect, the current rotary position of the electric rotating machine is equal to institute
The first preset rotation position is stated, and the current torque of the electric rotating machine is less than the target torque, then with the second preset rotation
Position drives the electric rotating machine rotation as target location, and the second preset rotation position is more than the described first preset rotation
Position；
The detection module is additionally operable to detect the relationship of the current torque and the target torque of the electric rotating machine；
The handover module, if being additionally operable to detect, the current torque of the electric rotating machine is not less than the target torque,
The operating mode of the electric rotating machine is then switched to constant torque pattern, and is by the torque settings of the constant torque pattern
The target torque.
Further, the detection module, if being additionally operable to detect, the current rotary position of the electric rotating machine is less than institute
The first preset rotation position is stated, and the current torque of the electric rotating machine is not less than the target torque, then detects the rotation
Whether the rotating speed of motor is in the range of preset rotating speed section；
The handover module, if being additionally operable to detect the rotating speed of the electric rotating machine in the range of preset rotating speed section,
The operating mode of the electric rotating machine is then switched to constant torque pattern, and is by the torque settings of the constant torque pattern
The target torque.
Further, the drag-line climbing robot includes telescopic moving mechanism, upper hold-fast body and lower hold-fast body, institute
It states hold-fast body to connect with the lower hold-fast body by the telescopic moving mechanism, the upper hold-fast body and lower armful described
Tight mechanism includes two electric rotating machines and two circumferentially distributed cohesion devices, and the electric rotating machine includes left side electric rotating machine
And right side electric rotating machine, the cohesion device include left side cohesion device and right side cohesion device, the left side electric rotating machine control
The left side cohesion device is made, the right side electric rotating machine controls the right side cohesion device；
The drag-line climbing robot further includes：
Logging modle, for after the operating mode of the electric rotating machine is switched to constant torque pattern, recording the rotation
The current rotary position of rotating motor；
Computing module, if the current rotary position of the electric rotating machine for record is not equal to the described first preset rotation
The number of position reaches predetermined times, and the current rotary position of the left side electric rotating machine recorded every time is revolved with the right side
The current rotary position of rotating motor is equal, then calculates the average value of the current rotary position of each electric rotating machine, is calculated as putting down
Equal rotation position；
The computing module is additionally operable to calculate the current rotary position of each electric rotating machine and the average rotation position
The absolute value for the difference set；
Update module, if the difference of the current rotary position and the average rotation position for each electric rotating machine
Absolute value be respectively less than default value, then update the first preset rotation position using the average rotation position.
Further, the drive module is additionally operable to work as the current rotary position of the electric rotating machine with described first in advance
When setting the distance of rotation position equal to target range, the rotating speed of the electric rotating machine is at the uniform velocity reduced by current rotating speed, until institute
When stating the current rotary position of electric rotating machine and reaching the first preset rotation position, the rotating speed of the electric rotating machine is kept to zero
Speed.
Drag-line climbing robot and drag-line provided by the invention hold control method tightly, by by the operating mode of electric rotating machine
It is set as rotation position pattern, the output shaft rotation of electric rotating machine, rotation are driven using the first preset rotation position as target location
The output shaft rotation of rotating motor drives cohesion device to carry out holding action, detects the current rotary position and first of electric rotating machine in advance
The relationship of rotation position and the relationship of the current torque of electric rotating machine and target torque are set, target torque is cohesion device energy
Enough hold the minimum torque of drag-line tightly, the current rotary position of electric rotating machine is equal to the first preset rotation position if detecting, and revolves
The current torque of rotating motor is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and will
The torque settings of constant torque pattern are target torque.Compared to the prior art, the drag-line climbing robot in the present invention uses
The climbing mode that hold-fast body is held tightly, the problem of avoiding traditional wheeled climbing robot drag-line surface easy to wear.The drawing
Rope climbing robot can be saved pressure sensor and distance measuring sensor, be reduced by preset target position and target torque
The production cost of drag-line climbing robot.The drag-line climbing robot in the present invention is determining that cohesion device held drag-line tightly simultaneously
Afterwards, can electric rotating machine be switched into constant torque pattern rapidly, and is that can hold the minimum torque of drag-line, energy tightly by torque settings
It is enough that hold-fast body is reduced to minimum to the extruding of drag-line, it avoids that drag-line surface is generated to squeeze to damage, while can also reduce drawing
The power consumption of rope climbing robot.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention.
Fig. 1 is the schematic diagram that drag-line climbing robot provided in an embodiment of the present invention is fixed on drag-line；
Fig. 2 is the schematic diagram of the upper hold-fast body or lower hold-fast body in Fig. 1；
Fig. 3 is that the drag-line for the drag-line climbing robot that first embodiment of the invention provides holds the implementation process of control method tightly
Schematic diagram；
Fig. 4 is that the drag-line for the drag-line climbing robot that second embodiment of the invention provides holds the implementation process of control method tightly
Schematic diagram；
Fig. 5 is the structural schematic diagram for the drag-line climbing robot that third embodiment of the invention provides；
Fig. 6 is the structural schematic diagram for the drag-line climbing robot that fourth embodiment of the invention provides.
Specific implementation mode
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
It is only a part of the embodiment of the present invention to apply example, and not all embodiments.Based on the embodiments of the present invention, people in the art
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is referred to, is a kind of drag-line climbing robot provided in an embodiment of the present invention, includes mainly upper hold-fast body
10, lower hold-fast body 20 and telescopic moving mechanism 30, upper hold-fast body 10 pass through telescopic moving mechanism 30 and lower hold-fast body 20
Connection.Fig. 2 is referred to, upper hold-fast body 10 and lower hold-fast body 20 include two electric rotating machines and two circumferentially distributed armfuls
Tight device, electric rotating machine include left side electric rotating machine (not shown) and right side electric rotating machine 12, and cohesion device includes left side
Cohesion device 21 and right side cohesion device 22, left side electric rotating machine control left side cohesion device 21, right side electric rotating machine 12 control
Right side cohesion device 22.
Robot motion's pattern of the present embodiment is using the vermicular movement of nature worm as foundation, in order to make the climbing of robot
Principle is more clear, and is parsed in detail with reference to robot climbing motion：
The first step：The cohesion device 2 of upper hold-fast body 10 and lower hold-fast body 20 all holds drag-line 200 tightly；
Second step：The cohesion device 2 of upper hold-fast body 10 unclamps, and telescopic moving mechanism 30 extends, hold-fast body in promotion
10 up move；
Third walks：The cohesion device 2 of upper hold-fast body 10 is held tightly, and the cohesion device 2 of lower hold-fast body 20 unclamps, and stretches and moves
Motivation structure 30 is shunk, and lower hold-fast body 20 is pulled up to move；
4th step：The cohesion device 2 of lower hold-fast body 10 is held tightly, and the cohesion device 2 of upper hold-fast body 10 unclamps, and stretches and moves
Motivation structure 30 extends, and hold-fast body 10 up moves in promotion；It recycles repeatedly, realizes movement.
Referring to Fig. 3, the drag-line that Fig. 3 is the drag-line climbing robot that first embodiment of the invention provides holds control method tightly
Implementation process schematic diagram, the drag-line hold tightly control method can be used in drag-line climbing robot shown in FIG. 1, Fig. 3 institutes
The drag-line of the drag-line climbing robot shown holds control method tightly, mainly includes the following steps that：
S101, the operating mode of electric rotating machine is set to rotation position pattern, using the first preset rotation position as mesh
Cursor position drives the output shaft rotation of electric rotating machine, the output shaft rotation of electric rotating machine that cohesion device is driven to carry out holding action；
After electric rotating machine is set as rotation position pattern, setting target location is first had to, then the output shaft of electric rotating machine
Rotation is proceeded by by terminating rotation position of target location, the output shaft of electric rotating machine stops rotation when rotating to target location
Turn.The output shaft rotation of electric rotating machine drives cohesion device to carry out holding action, and the final position and electric rotating of holding action
The target location of machine rotation is corresponding, and the target location being even arranged every time is identical, then the final position of each holding action
Also identical.
S102, detect electric rotating machine current rotary position and the first preset rotation position relationship and electric rotating machine
Current torque and target torque relationship；
The relationship and electric rotating machine of the real-time current rotary position for detecting electric rotating machine and the first preset rotation position
The relationship of current torque and target torque.
The current rotary position of electric rotating machine and the relationship of the first preset rotation position include：Current rotary position is less than the
One preset rotation position；Current rotary position is equal to the first preset rotation position；Current rotary position is more than the first preset rotation
Position.The current torque of electric rotating machine and the relationship of target torque include：Current torque is less than target torque；Current torque is not small
In target torque.
Wherein, the target torque of electric rotating machine is that user's setting or drag-line climbing robot measure.In the present embodiment
In, selection enables cohesion device to hold the minimum torque of drag-line tightly as target torque.
If S103, detecting that the current rotary position of electric rotating machine is equal to the first preset rotation position, and electric rotating machine
Current torque is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and by constant torque
The torque settings of pattern are target torque.
After determining that cohesion device has held drag-line tightly, can electric rotating machine be switched into constant torque pattern rapidly, and will turn
Square is set as that the minimum torque of drag-line can be held tightly, can hold-fast body be reduced to minimum to the extruding of drag-line, avoided to drag-line
Surface, which generates, squeezes damage, while can also reduce the power consumption of drag-line climbing robot.
The drag-line of drag-line climbing robot provided by the invention holds control method tightly, by by the operating mode of electric rotating machine
It is set as rotation position pattern, the output shaft rotation of electric rotating machine, rotation are driven using the first preset rotation position as target location
The output shaft rotation of rotating motor drives cohesion device to carry out holding action, detects the current rotary position and first of electric rotating machine in advance
The relationship of rotation position and the relationship of the current torque of electric rotating machine and target torque are set, target torque is cohesion device energy
Enough hold the minimum torque of drag-line tightly, the current rotary position of electric rotating machine is equal to the first preset rotation position if detecting, and revolves
The current torque of rotating motor is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and will
The torque settings of constant torque pattern are target torque, and compared to the prior art, the drag-line climbing robot in the present invention uses
The climbing mode that hold-fast body is held tightly, the problem of avoiding traditional wheeled climbing robot drag-line surface easy to wear.The drawing
Rope climbing robot can be saved pressure sensor and distance measuring sensor, be reduced by preset target position and target torque
The production cost of drag-line climbing robot.The drag-line climbing robot in the present invention is determining that cohesion device held drag-line tightly simultaneously
Afterwards, can electric rotating machine be switched into constant torque pattern rapidly, and is that can hold the minimum torque of drag-line, energy tightly by torque settings
It is enough that hold-fast body is reduced to minimum to the extruding of drag-line, it avoids that drag-line surface is generated to squeeze to damage, while can also reduce drawing
The power consumption of rope climbing robot.
Referring to Fig. 4, the drag-line that Fig. 4 is the drag-line climbing robot that second embodiment of the invention provides holds control method tightly
Implementation process schematic diagram, the drag-line hold tightly control method can be used in drag-line climbing robot shown in FIG. 1, Fig. 4 institutes
The drag-line of the drag-line climbing robot shown holds control method tightly, mainly includes the following steps that：
S201, the operating mode of electric rotating machine is set to rotation position pattern, using the first preset rotation position as mesh
Cursor position drives the output shaft rotation of electric rotating machine, the output shaft rotation of electric rotating machine that cohesion device is driven to carry out holding action；
After electric rotating machine is set as rotation position pattern, setting target location is first had to, then the output shaft of electric rotating machine
Rotation is proceeded by by terminating rotation position of target location, the output shaft of electric rotating machine stops rotation when rotating to target location
Turn.The output shaft rotation of electric rotating machine drives cohesion device to carry out holding action, and the final position and electric rotating of holding action
The target location of machine rotation is corresponding, and the target location being even arranged every time is identical, then the final position of each holding action
Also identical.
S202, detect electric rotating machine current rotary position and the first preset rotation position relationship and electric rotating machine
Current torque and target torque relationship；
The relationship and electric rotating machine of the real-time current rotary position for detecting electric rotating machine and the first preset rotation position
The relationship of current torque and target torque.
The current rotary position of electric rotating machine and the relationship of the first preset rotation position include：Current rotary position is less than the
One preset rotation position；Current rotary position is equal to the first preset rotation position；Current rotary position is more than the first preset rotation
Position.The current torque of electric rotating machine and the relationship of target torque include：Current torque is less than target torque；Current torque is not small
In target torque.
Wherein, the target torque of electric rotating machine is that user's setting or drag-line climbing robot measure.In the present embodiment
In, selection enables cohesion device to hold the minimum torque of drag-line tightly as target torque.
If detecting, the current rotary position of electric rotating machine is equal to the first preset rotation position, and electric rotating machine works as forward
Square is not less than target torque, thens follow the steps S203；If detecting, the current rotary position of electric rotating machine is equal to the first preset rotation
Indexing is set, and the current torque of electric rotating machine is less than target torque, thens follow the steps S204；If detecting the current of electric rotating machine
Rotation position is less than the first preset rotation position, and the current torque of electric rotating machine is not less than target torque, thens follow the steps
S207。
S203, the operating mode of electric rotating machine is switched to constant torque pattern, and the torque of constant torque pattern is set
It is set to target torque；
If detecting, the current rotary position of electric rotating machine is equal to the first preset rotation position, and electric rotating machine works as forward
Square is not less than target torque, then sets the operating mode of electric rotating machine to constant torque pattern, and by constant torque pattern
Torque settings are target torque.
After determining that cohesion device has held drag-line tightly, can electric rotating machine be switched into constant torque pattern rapidly, and will turn
Square is set as that the minimum torque of drag-line can be held tightly, can hold-fast body be reduced to minimum to the extruding of drag-line, avoided to drag-line
Surface, which generates, squeezes damage, while can also reduce the power consumption of drag-line climbing robot.
S204, electric rotating machine rotation, the second preset rotation position are driven using the second preset rotation position as target location
More than the first preset rotation position；
If detecting, the current rotary position of electric rotating machine is equal to the first preset rotation position, and electric rotating machine works as forward
Square is less than target torque, then electric rotating machine rotation, the second preset rotation are driven using the second preset rotation position as target location
Position is more than the first preset rotation position.
It should be understood that the second preset rotation position herein is more bigger than the first preset rotation position, the second preset rotation
The difference of position and the first preset rotation position can be calculated as incremental counter.If electric rotating machine rotates to the second preset rotation position,
The current torque of electric rotating machine is still not up to target torque, then continues to increase the increment on the basis of the second preset rotation position
Position, as target location driving electric rotating machine rotation, until the current torque of electric rotating machine reaches target torque.
S205, detect electric rotating machine current torque and target torque relationship；
If S206, detecting that the current torque of electric rotating machine is not less than target torque, by the operating mode of electric rotating machine
It is switched to constant torque pattern, and is target torque by the torque settings of constant torque pattern；
S207, the rotating speed of electric rotating machine is detected whether in the range of preset rotating speed section；
If detecting, the current rotary position of electric rotating machine is less than the first preset rotation position, and electric rotating machine works as forward
Square is not less than target torque, then detects the rotating speed of electric rotating machine whether in the range of preset rotating speed section；
In the present embodiment, preset rotating speed section be one level off to zero section, when the rotating speed of electric rotating machine is pre- at this
When setting in the range of rotating speed section, then it is assumed that cohesion device has been held tightly.
If S208, the rotating speed of electric rotating machine is detected in the range of preset rotating speed section, by the work of electric rotating machine
Pattern switching is constant torque pattern, and is target torque by the torque settings of constant torque pattern.
This method further includes：
After the operating mode of electric rotating machine is switched to constant torque pattern, the current rotary position of electric rotating machine is recorded；
If the current rotary position of the electric rotating machine of record reaches predetermined times not equal to the number of the first preset rotation position, and every time
The current rotary position of the left side electric rotating machine of record is equal with the current rotary position of right side electric rotating machine, then calculates each rotation
The average value of the current rotary position of rotating motor is calculated as average rotation position；Calculate the current rotary position of each secondary electric rotating machine
With the absolute value of the difference of average rotation position；If the difference of the current rotary position of each secondary electric rotating machine and average rotation position
Absolute value be respectively less than default value, then update the first preset rotation position using average rotation position.
This method further includes：
When the current rotary position of electric rotating machine is equal to target range at a distance from the first preset rotation position, will rotate
The rotating speed of motor is at the uniform velocity reduced by current rotating speed, until the current rotary position of electric rotating machine reaches the first preset rotation position
When, the rotating speed of electric rotating machine is kept to zero-speed.
The step designs smooth curve movement, it is therefore an objective to when making cohesion device close to target location, electric rotating machine
Rotating speed reduces, to which the speed for making cohesion device carry out holding action reduces, if drag-line has barrier or drag-line herein herein
Fineness is thicker than estimated, cohesion device can be touched before the final position of estimated holding action barrier or
Drag-line will not damage drag-line and cohesion device due to the excessive velocities that holding acts.
The drag-line of drag-line climbing robot provided in this embodiment holds control method tightly, and drag-line climbing robot can be made fine
Adaptive stay cable diameter variation, adapt to the barrier of protrusion to a certain degree, keep the simply and reliable property of system structure high.
The drag-line of drag-line climbing robot provided by the invention holds control method tightly, by by the operating mode of electric rotating machine
It is set as rotation position pattern, the output shaft rotation of electric rotating machine, rotation are driven using the first preset rotation position as target location
The output shaft rotation of rotating motor drives cohesion device to carry out holding action, detects the current rotary position and first of electric rotating machine in advance
The relationship of rotation position and the relationship of the current torque of electric rotating machine and target torque are set, target torque is cohesion device energy
Enough hold the minimum torque of drag-line tightly, the current rotary position of electric rotating machine is equal to the first preset rotation position if detecting, and revolves
The current torque of rotating motor is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and will
The torque settings of constant torque pattern are target torque, and compared to the prior art, the drag-line climbing robot in the present invention uses
The climbing mode that hold-fast body is held tightly, the problem of avoiding traditional wheeled climbing robot drag-line surface easy to wear.The drawing
Rope climbing robot can be saved pressure sensor and distance measuring sensor, be reduced by preset target position and target torque
The production cost of drag-line climbing robot.The drag-line climbing robot in the present invention is determining that cohesion device held drag-line tightly simultaneously
Afterwards, can electric rotating machine be switched into constant torque pattern rapidly, and is that can hold the minimum torque of drag-line, energy tightly by torque settings
It is enough that hold-fast body is reduced to minimum to the extruding of drag-line, it avoids that drag-line surface is generated to squeeze to damage, while can also reduce drawing
The power consumption of rope climbing robot.
Referring to Fig. 5, Fig. 5 is the structural schematic diagram for the drag-line climbing robot that third embodiment of the invention provides, in order to
Convenient for explanation, illustrate only and the relevant part of the embodiment of the present invention.
The exemplary drag-line climbing robots of Fig. 5 include：Drive module 301, detection module 302 and handover module 303.
Drive module 301, for setting the operating mode of electric rotating machine to rotation position pattern, with the first preset rotation
Position drives the output shaft rotation of electric rotating machine, the output shaft rotation of electric rotating machine that cohesion device is driven to carry out as target location
Holding acts.
Detection module 302, the relationship of the preset rotation position of current rotary position and first for detecting electric rotating machine, with
And the current torque of electric rotating machine and the relationship of target torque.
Handover module 303, if for detecting that the current rotary position of electric rotating machine is equal to the first preset rotation position, and
The current torque of electric rotating machine is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and
It is target torque by the torque settings of constant torque pattern.
Above-mentioned each module realizes the detailed process of its respective function, can refer to the drag-line climbing that above-mentioned first embodiment provides
The drag-line of robot holds the related content of control method tightly, and details are not described herein again.
Drag-line climbing robot provided by the invention, by setting the operating mode of electric rotating machine to rotation position mould
Formula drives the output shaft rotation of electric rotating machine, the output shaft rotation of electric rotating machine using the first preset rotation position as target location
Turn that cohesion device is driven to carry out holding action, detects the pass of the current rotary position and the first preset rotation position of electric rotating machine
System and the current torque of electric rotating machine and the relationship of target torque, target torque, which is cohesion device, can hold drag-line tightly most
Small torque, if detecting, the current rotary position of electric rotating machine is equal to the first preset rotation position, and electric rotating machine works as forward
Square is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and by constant torque pattern
Torque settings are target torque, compared to the prior art, what the drag-line climbing robot in the present invention was held tightly using hold-fast body
Climbing mode, the problem of avoiding traditional wheeled climbing robot drag-line surface easy to wear.The drag-line climbing robot is logical
Preset target position and target torque are crossed, pressure sensor and distance measuring sensor can be saved, reduces drag-line climbing robot
Production cost.The drag-line climbing robot in the present invention will can revolve rapidly after determining that cohesion device has held drag-line tightly simultaneously
Rotating motor switches to constant torque pattern, and is that can hold the minimum torque of drag-line tightly by torque settings, can be by hold-fast body
Minimum is reduced to the extruding of drag-line, avoids that drag-line surface is generated to squeeze to damage, while can also reduce drag-line climbing robot
Power consumption.
Referring to Fig. 6, the structural schematic diagram of the drag-line climbing robot provided for fourth embodiment of the invention, for the ease of
Illustrate, illustrates only and the relevant part of the embodiment of the present invention.The exemplary drag-line climbing robots of Fig. 6 include：Drive module
401, detection module 402, handover module 403, logging modle 404, computing module 405 and update module 406.
Drive module 401, for setting the operating mode of electric rotating machine to rotation position pattern, with the first preset rotation
Position drives the output shaft rotation of electric rotating machine, the output shaft rotation of electric rotating machine that cohesion device is driven to carry out as target location
Holding acts.
Detection module 402, the relationship of the preset rotation position of current rotary position and first for detecting electric rotating machine, with
And the current torque of electric rotating machine and the relationship of target torque.
Handover module 403, if for detecting that the current rotary position of electric rotating machine is equal to the first preset rotation position, and
The current torque of electric rotating machine is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and
It is target torque by the torque settings of constant torque pattern.
Drive module 401, if being additionally operable to detect, the current rotary position of electric rotating machine is equal to the first preset rotation position,
And the current torque of electric rotating machine is less than target torque, then electric rotating machine is driven using the second preset rotation position as target location
Rotation, the second preset rotation position are more than the first preset rotation position.
Detection module 402 is additionally operable to the relationship of the current torque and target torque of detection electric rotating machine；
Handover module 403, if being additionally operable to detect, the current torque of electric rotating machine is not less than target torque, by electric rotating
The operating mode of machine is switched to constant torque pattern, and is target torque by the torque settings of constant torque pattern.
Detection module 402, if being additionally operable to detect, the current rotary position of electric rotating machine is less than the first preset rotation position,
And the current torque of electric rotating machine be not less than target torque, then detect electric rotating machine rotating speed whether preset rotating speed section model
In enclosing.
Handover module 403 will rotation if being additionally operable to detect the rotating speed of electric rotating machine in the range of preset rotating speed section
The operating mode of rotating motor is switched to constant torque pattern, and is target torque by the torque settings of constant torque pattern.
Logging modle 404, for when the operating mode of electric rotating machine is set as constant torque pattern, recording electric rotating machine
Current rotary position.
Computing module 405, if the current rotary position of the electric rotating machine for record is not equal to the first preset rotation position
The number current rotary position of left side electric rotating machine that reaches predetermined times, and record every time and right side electric rotating machine it is current
Rotation position is equal, then calculates the average value of the current rotary position of each secondary electric rotating machine, is calculated as average rotation position.
Computing module 405 is additionally operable to calculate the difference of the current rotary position and average rotation position of each secondary electric rotating machine
Absolute value.
Update module 406, if for each secondary electric rotating machine current rotary position be averaged rotation position difference it is exhausted
Default value is respectively less than to value, then updates the first preset rotation position using the average rotation position.
Drive module 401 is additionally operable to the current rotary position when electric rotating machine at a distance from the first preset rotation position etc.
When target range, the rotating speed of electric rotating machine is at the uniform velocity reduced by current rotating speed, until the current rotary position of electric rotating machine reaches
When to the first preset rotation position, the rotating speed of electric rotating machine is kept to zero-speed.
Above-mentioned each module realizes the detailed process of its respective function, can refer to the drag-line climbing that above-mentioned second embodiment provides
The drag-line of robot holds the related content of control method tightly, and details are not described herein again.
Drag-line climbing robot provided by the invention, by setting the operating mode of electric rotating machine to rotation position mould
Formula drives the output shaft rotation of electric rotating machine, the output shaft rotation of electric rotating machine using the first preset rotation position as target location
Turn that cohesion device is driven to carry out holding action, detects the pass of the current rotary position and the first preset rotation position of electric rotating machine
System and the current torque of electric rotating machine and the relationship of target torque, target torque, which is cohesion device, can hold drag-line tightly most
Small torque, if detecting, the current rotary position of electric rotating machine is equal to the first preset rotation position, and electric rotating machine works as forward
Square is not less than target torque, then the operating mode of electric rotating machine is switched to constant torque pattern, and by constant torque pattern
Torque settings are target torque, compared to the prior art, what the drag-line climbing robot in the present invention was held tightly using hold-fast body
Climbing mode, the problem of avoiding traditional wheeled climbing robot drag-line surface easy to wear.The drag-line climbing robot is logical
Preset target position and target torque are crossed, pressure sensor and distance measuring sensor can be saved, reduces drag-line climbing robot
Production cost.The drag-line climbing robot in the present invention will can revolve rapidly after determining that cohesion device has held drag-line tightly simultaneously
Rotating motor switches to constant torque pattern, and is that can hold the minimum torque of drag-line tightly by torque settings, can be by hold-fast body
Minimum is reduced to the extruding of drag-line, avoids that drag-line surface is generated to squeeze to damage, while can also reduce drag-line climbing robot
Power consumption.
In multiple embodiments provided herein, it should be understood that disclosed system and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication linkage can be the INDIRECT COUPLINGs or logical by some interfaces, device or module
Letter link can be electrical, machinery or other forms.
The module illustrated as separating component may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, you can be located at a place, or may be distributed over multiple
On network module.Some or all of module therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each function module in each embodiment of the present invention can be integrated in a processing module, it can also
That modules physically exist alone, can also two or more modules be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.
If the integrated module is realized in the form of software function module and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It should be noted that for each method embodiment above-mentioned, describe, therefore it is all expressed as a series of for simplicity
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the described action sequence because
According to the present invention, certain steps may be used other sequences or be carried out at the same time.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this hairs
Necessary to bright.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
It is the description for holding control method tightly to drag-line climbing robot provided by the present invention and drag-line above, for ability
The technical staff in domain, the thought of embodiment according to the present invention, there will be changes in the specific implementation manner and application range,
To sum up, the content of the present specification should not be construed as limiting the invention.
Claims (10)
1. a kind of drag-line of drag-line climbing robot holds control method tightly, which is characterized in that the method includes：
It sets the operating mode of electric rotating machine to rotation position pattern, is driven using the first preset rotation position as target location
The output shaft of the electric rotating machine rotates, and the output shaft rotation of the electric rotating machine drives the cohesion device to carry out holding and moves
Make；
Detect the current rotary position of the electric rotating machine and the relationship of the described first preset rotation position and the electric rotating
The current torque of machine and the relationship of target torque, the target torque are the minimum turn that the cohesion device can hold drag-line tightly
Square；
If detecting, the current rotary position of the electric rotating machine is equal to the described first preset rotation position, and the electric rotating machine
Current torque be not less than the target torque, then the operating mode of the electric rotating machine is switched to constant torque pattern, and
It is the target torque by the torque settings of the constant torque pattern.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
If detecting, the current rotary position of the electric rotating machine is equal to the described first preset rotation position, and the electric rotating machine
Current torque be less than the target torque, then drive the electric rotating machine to revolve using the second preset rotation position as target location
Turn, the second preset rotation position is more than the described first preset rotation position；
Detect the relationship of the current torque and the target torque of the electric rotating machine；
If detecting, the current torque of the electric rotating machine is not less than the target torque, by the Working mould of the electric rotating machine
Formula is switched to constant torque pattern, and is the target torque by the torque settings of the constant torque pattern.
3. according to the method described in claim 1, it is characterized in that, the method further includes：
If detecting, the current rotary position of the electric rotating machine is less than the described first preset rotation position, and the electric rotating machine
Current torque be not less than the target torque, then detect the electric rotating machine rotating speed whether preset rotating speed section range
It is interior；
If the rotating speed of the electric rotating machine is detected in the range of preset rotating speed section, by the Working mould of the electric rotating machine
Formula is switched to constant torque pattern, and is the target torque by the torque settings of the constant torque pattern.
4. method according to any one of claims 1 to 3, which is characterized in that the drag-line climbing robot includes flexible
Mobile mechanism, upper hold-fast body and lower hold-fast body, the upper hold-fast body pass through the telescopic moving mechanism and described lower armful
Tight mechanism connection, the upper hold-fast body and the lower hold-fast body include two electric rotating machines and two circumferentially distributed armfuls
Tight device, the electric rotating machine include left side electric rotating machine and right side electric rotating machine, and the cohesion device includes that dress is held in left side tightly
It sets and right side cohesion device, the left side electric rotating machine controls the left side cohesion device, the right side electric rotating machine controls institute
State right side cohesion device；
The method further includes：
After the operating mode of the electric rotating machine is switched to constant torque pattern, the current rotation position of the electric rotating machine is recorded
It sets；
If the current rotary position of the electric rotating machine of record reaches pre- not equal to the number of the described first preset rotation position
The current rotation of the current rotary position and the right side electric rotating machine of the left side electric rotating machine set number, and recorded every time
Position is equal, then calculates the average value of the current rotary position of each electric rotating machine, is calculated as average rotation position；
Calculate the absolute value of the current rotary position and the difference of the average rotation position of each electric rotating machine；
If the current rotary position of each electric rotating machine and the absolute value of the difference of the average rotation position are respectively less than pre-
Setting value then updates the first preset rotation position using the average rotation position.
5. method according to any one of claims 1 to 3, which is characterized in that the method further includes：
It, will when the current rotary position of the electric rotating machine is equal to target range at a distance from the described first preset rotation position
The rotating speed of the electric rotating machine is at the uniform velocity reduced by current rotating speed, until the current rotary position of the electric rotating machine reaches described the
When one preset rotation position, the rotating speed of the electric rotating machine is kept to zero-speed.
6. a kind of drag-line climbing robot, which is characterized in that the drag-line climbing robot includes：
Drive module, for setting the operating mode of the electric rotating machine to rotation position pattern, with the first preset rotation position
It sets and drives the output shaft of the electric rotating machine to rotate as target location, the output shaft rotation of the electric rotating machine drives described embrace
Tight device carries out holding action；
Detection module, the relationship of current rotary position and the described first preset rotation position for detecting the electric rotating machine,
And the current torque of the electric rotating machine and the relationship of target torque, the target torque can be held tightly for the cohesion device
The minimum torque of drag-line；
Handover module, if for detecting that the current rotary position of the electric rotating machine is equal to the described first preset rotation position,
And the current torque of the electric rotating machine is not less than the target torque, then the operating mode of the electric rotating machine is switched to perseverance
Determine torque mode, and is the target torque by the torque settings of the constant torque pattern.
7. drag-line climbing robot according to claim 6, which is characterized in that the drive module, if being additionally operable to detection
Current rotary position to the electric rotating machine is equal to the described first preset rotation position, and the current torque of the electric rotating machine
Less than the target torque, then electric rotating machine rotation is driven using the second preset rotation position as target location, described the
Two preset rotation positions are more than the described first preset rotation position；
The detection module is additionally operable to detect the relationship of the current torque and the target torque of the electric rotating machine；
The handover module, if being additionally operable to detect, the current torque of the electric rotating machine is not less than the target torque, will
The operating mode of the electric rotating machine is switched to constant torque pattern, and is described by the torque settings of the constant torque pattern
Target torque.
8. drag-line climbing robot according to claim 6, which is characterized in that the detection module, if being additionally operable to detection
Current rotary position to the electric rotating machine is less than the described first preset rotation position, and the current torque of the electric rotating machine
Not less than the target torque, then the rotating speed of the electric rotating machine is detected whether in the range of preset rotating speed section；
The handover module will if being additionally operable to detect the rotating speed of the electric rotating machine in the range of preset rotating speed section
The operating mode of the electric rotating machine is switched to constant torque pattern, and is described by the torque settings of the constant torque pattern
Target torque.
9. according to claim 6 to 8 any one of them drag-line climbing robot, which is characterized in that the drag-line climbs machine
People includes telescopic moving mechanism, upper hold-fast body and lower hold-fast body, and the upper hold-fast body passes through the telescopic moving mechanism
It is connect with the lower hold-fast body, the upper hold-fast body and the lower hold-fast body include two electric rotating machines and two weeks
To the cohesion device of distribution, the electric rotating machine includes left side electric rotating machine and right side electric rotating machine, and the cohesion device includes
Left side cohesion device and right side cohesion device, the left side electric rotating machine control the left side cohesion device, the right side rotation
Motor controls the right side cohesion device；
The drag-line climbing robot further includes：
Logging modle, for after the operating mode of the electric rotating machine is switched to constant torque pattern, recording the electric rotating
The current rotary position of machine；
Computing module, if the current rotary position of the electric rotating machine for record is not equal to the described first preset rotation position
The number current rotary position of the left side electric rotating machine that reaches predetermined times, and record every time and the right side electric rotating
The current rotary position of machine is equal, then calculates the average value of the current rotary position of each electric rotating machine, is calculated as average rotation
Indexing is set；
The computing module is additionally operable to calculate the current rotary position of each electric rotating machine and the average rotation position
The absolute value of difference；
Update module, if for each electric rotating machine current rotary position with it is described be averaged rotation position difference it is exhausted
Default value is respectively less than to value, then updates the first preset rotation position using the average rotation position.
10. according to claim 6 to 8 any one of them drag-line climbing robot, which is characterized in that the drive module, also
For when the current rotary position of the electric rotating machine is equal to target range at a distance from the described first preset rotation position, inciting somebody to action
The rotating speed of the electric rotating machine is at the uniform velocity reduced by current rotating speed, until the current rotary position of the electric rotating machine reaches described the
When one preset rotation position, the rotating speed of the electric rotating machine is kept to zero-speed.
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| CN201711410032.9A CN108284887B (en) | 2017-12-23 | 2017-12-23 | A kind of drag-line climbing robot and drag-line hold control method tightly |
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|---|---|---|---|
| CN201711410032.9A CN108284887B (en) | 2017-12-23 | 2017-12-23 | A kind of drag-line climbing robot and drag-line hold control method tightly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112012113A (en) * | 2020-08-19 | 2020-12-01 | 姚华 | Multifunctional bridge detection robot and working method |
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| US20160059939A1 (en) * | 2014-08-29 | 2016-03-03 | Reece Innovation Centre Limited | In or relating to crawlers |
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